Abstract
Abstract In this paper it will be considered a class of MIMO nonlinear systems in “strict feedback form” affected by a noun bounded matrix of time dependent disturbances. It will be assumed the matrix norm to be unknown, and it will be constructed a robust controller whose dynamics turn out to be minimal, yielding with this respect the best possible control strategy. It is also shown how this strategy can be applied to the elastic joint robot model simplified dynamic equations, and found a global state space coordinate transformation and a state feedback such that the system dynamics can be expressed in “strict feedback form”.
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